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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Multi-Time-Scale Finite Time Controller for the Quadrotor UAVs with Uncertainties
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A Multi-Time-Scale Finite Time Controller for the Quadrotor UAVs with Uncertainties

机译：具有不确定因素的四元电路的多时间尺度有限时间控制器

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摘要

A control method with a multi-time-scale structure is proposed to perform finite time motion control of the quadrotor unmanned aerial vehicles (UAVs) with uncertainties. In order to facilitate the controller-design, finite time extended state observer (ESO) in the first and second time scales is applied to estimate the system uncertainties; the attitude controllers and the height controller are designed for finite time stabilization of the equilibriums in the third time scale; and finally, the output feedback technique is utilized to design the horizontal auxiliary controllers, meanwhile the reference angles are settled for the attitude dynamics in the fourth and slowest time scale. It allows us to analyze the system dynamics in each time scale independently, and conclusions on finite time stabilization are achieved gradually with a large region of attraction. Simulation and experimental results on the Qball2 platform are given to verify the efficacy of the strategy and establish the feasibility of implementation.
机译：提出了一种具有多时间尺度结构的控制方法，以执行具有不确定性的四射线无人驾驶飞行器（UAV）的有限时间运动控制。为了便于控制器设计，应用第一和第二次尺度中的有限时间扩展状态观察者（ESO）以估计系统不确定性;姿态控制器和高度控制器设计用于在第三次规模中有限时间稳定平衡;最后，利用输出反馈技术来设计水平辅助控制器，同时参考角度在第四和最慢的时间尺度中终结姿态动态。它允许我们独立地分析系统动态，并且有限时间稳定的结论逐渐与大区域的吸引力实现。仿真和实验结果对Qball2平台进行了验证了策略的功效并建立了实施的可行性。

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